Barrel Hoop Driving Apparatus and Electric Drive

ABSTRACT

Apparatus, systems, and processes control an electric motor to drive a hoop onto a wooden barrel, among other purposes. A controller may be connected to the electric motor and configured to receive user input data and generate one or more control signals for the electric motor that correspond to a torque generation of the electric motor and/or a rotation speed of the electric motor. A barrel hoop driver may comprise the controller and electric motor, where the electric motor drives a press member for driving hoops onto wooden barrels.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the filing benefit of U.S. Provisional PatentApplication Ser. No. 62/148,369 filed on Apr. 16, 2015, which isincorporated by reference herein in its entirety.

FIELD OF THE INVENTION

Embodiments of the invention are generally related to apparatus,systems, and processes for electrical actuation, and in particular foran electrically-driven barrel hoop driving apparatus.

BACKGROUND

In some conventional manufacturing, a hydraulic system may beimplemented for a press apparatus. For example, in the cooperageindustry, a hydraulic press may be utilized to drive metal bands(referred to as “hoops”) onto a wooden barrel, where such apparatusincluding the hydraulic press may be referred to as a barrel hoopdriver. In general, a wooden barrel refers to a barrel or keg comprisinga plurality of wooden staves held together by hoops. Furthermore, awooden barrel may refer to any barrel at least partially comprising woodor wood based materials, such as wood composites. As will beappreciated, cooperages generally construct and finish wooden barrelsfor use in aging various alcoholic beverages, including wine, beer,whiskey, and/or other such alcoholic beverages. While conventional hoopdrivers may be effective for the placement of hoops, variouscharacteristics of the hydraulic presses used on such conventional hoopdrivers are not desirable the finishing of wooden barrels. For example,heat and fluid (e.g., oil) associated with a hydraulic press may not bedesirable in a cooperage setting. In particular, fluid from a hydraulicpress may render a barrel unusable if fluid associated with thehydraulic press leaks onto the barrel.

SUMMARY

Some embodiments of the invention provide an electric drive system thatcomprises an electric motor connected to a controller, and suitable foruse in applications conventionally utilizing hydraulic cylinders. Thecontroller may be connected to a user interface device, such as ajoystick, such that a user may interface with the electric motor via theuser interface device. In such embodiments, the controller may generateone or more control signals based on user input data received from auser interface device. The one or more control signals may correspond toa torque to be generated (e.g., output) by the electric motor. The oneor more control signals may also correspond to a rotation speed limitfor the electric motor. Furthermore, the controller may be configured toactuate the electric motor responsive to user input at the userinterface device for positional based movement, and the controller maybe configured to monitor torque of the electric motor and adjust torquegenerated by the electric motor responsive to user input.

Some embodiments of the invention provide a system, apparatus, andprocess for driving hoops onto wooden barrels. In such embodiments, ahoop driving apparatus may be provided that comprises an electric drivesystem as described above connected to a mechanical linkage, e.g.,incorporating one or more threaded rotatable members. The rotatablemembers may be connected to a press member that provides a press surfacethat may interact with a hoop to drive the hoop onto a wooden barrel. Ingeneral, the electric drive may rotate the one or more threadedrotatable members to thereby move the press member. When the pressmember engages a hoop for fitting on a wooden barrel, the electric drivemay generate rotational torque to thereby rotate the one or morethreaded rotatable members and drive the press member to thereby providepressing force to drive the hoop onto the wooden barrel. As will beappreciated, the electrical drive system described herein may provide aninterface similar to a hydraulic cylinder (e.g., a linear hydraulicmotor) based system for an operator, where torque may be generated bythe electric motor responsive to user input at a user interface devicein a manner similar to a hydraulic cylinder based hoop driver.

Therefore, consistent with some aspects of the invention, a barrel hoopdriver include a press member configured for linear movement along anaxis to drive a hoop onto a barrel, a mechanical linkage configured tomove the press member along the axis and cause the press member to applya linear force to the hoop in response to a rotational input, and anelectric motor coupled to the mechanical linkage to provide therotational input thereto.

In some embodiments, the mechanical linkage includes a threadedrotatable member coupled to the press member configured for rotation inresponse to rotational torque generated by the electric motor, and insome embodiments, the threaded rotatable member is a first threadedrotatable member and the electric motor is a first electric motor, andthe barrel hoop driver further includes a second threaded rotatablemember coupled to the press member and a second electric motor that issynchronized with the first electric motor, where the second electricmotor is coupled to the second rotatable member such that rotationaltorque generated by the second electric motor drives rotation of thesecond rotatable member.

In some embodiments, a barrel hoop driver may also include a controllerconnected to the electric motor and configured to communicate at leastone control signal to the electric motor for actuating the electricmotor to thereby generate rotational torque. In some embodiments, the atleast one control signal corresponds to an amount of rotational torquefor the electric motor to generate, and in some embodiments, the atleast one control signal corresponds to a rotational speed limit for theelectric motor. In some embodiments, the controller is configured togenerate one or more control signals for the electric motor such thatthe electric motor is controlled like a linear hydraulic motor. Further,some embodiments include a frame that includes a rotatable supportsurface for the barrel, one or more positioning arms coupled to thepress member and configured to drive a quarter hoop and/or an end hoopinto a desired position on a first end of the barrel facing the pressmember, and at least one rotatable barrel clamp configured to engage thebarrel to center the barrel on the support surface and furtherconfigured to rotate the barrel to face a second end of the barreltowards the press member.

Some embodiments also include at least one user interface deviceconnected to the controller and configured to generate user input data.In some embodiments, the controller is configured to receive the userinput data, process the user input data, and generate the at least onecontrol signal based on the user input data, and in some embodiments,the controller is configured to smooth the user input data to generateprocessed input data by averaging position values of the user input datacollected at a sampling interval over a buffer range. In someembodiments, the user interface device includes a variable input device,e.g., one or more buttons and/or one or more joysticks.

Further, in some embodiments, a joystick may be actuatable along a firstaxis and actuation thereof may correspond to an angle of actuation,where the user input data generated by the user interface devicecorresponds to the angle of actuation, and the controller is configuredto generate a first control signal that corresponds to a rotationaltorque to be generated by the electric motor and a second control signalthat corresponds to a rotational speed limit of the electric motor basedat least in part on the angle of actuation of the joystick. In someembodiments, the rotational torque to be generated by the electric motorand the rotational speed limit of the electric motor increase as theangle of actuation of the joystick increases, and in some embodiments,the joystick is actuatable in first and second directions from anintermediate point along the first axis, the controller is configured torotate the electric motor in a first direction of rotation and therebymove the press member in a first linear direction when the joystick isactuated in the first direction from the intermediate point and torotate the electric motor in a second direction of rotation and therebymove the press member in a second linear direction when the joystick isactuated in the second direction from the intermediate point.

Consistent with other aspects of the invention, an apparatus may beprovided that includes a servo motor, a mechanical linkage coupled tothe servo motor and having a portion configured to travel along a linearaxis responsive to rotation of the servo motor, and a controller incommunication with the servo motor and configured to drive the servomotor using variable torque and speed limit inputs, with the variabletorque input controlling torque generation by the servo motor and thevariable speed limit input controlling a maximum rotational speed of theservo motor while being controlled by the variable torque input.

In some embodiments, the controller is configured to drive the servomotor to emulate a linear hydraulic motor, and in some embodiments, thecontroller is configured to drive the servo motor to providespeed-constrained torque generation by the servo motor. In addition, insome embodiments, the controller is configured to vary the variabletorque and speed limit inputs in response to a variable input, and insome embodiments, the variable input comprises an automated program or avariable user control.

In some embodiments, the controller is configured to generate the speedlimit input based at least in part on a fixed or variable ratio with thevariable torque input, and in some embodiments, the controller isconfigured to adjust the speed limit input based upon an external input.Further, in some embodiments, the controller is configured to operatethe servo motor in a torque mode and vary the speed limit input whilethe servo motor is operating in the torque mode based at least in parton the variable input. Some embodiments also include a press membercoupled to the mechanical linkage for linear movement between first andsecond positions, where the controller is configured to drive the servomotor to move the press member between the first and second positions,and to apply a linear force to a workpiece interposed between the firstand second positions. Further, in some embodiments, the controller isconfigured to substantially seamlessly transition between moving thepress member and applying the linear force, and in some embodiments, thecontroller is further configured to monitor output torque of the servomotor and to selectively reduce the variable torque input when theoutput torque exceeds a continuous torque limit for the servo motor fora predetermined time associated with a peak torque limit for the servomotor to avoid generation of a torque fault by the servo motor.

Other embodiments may include various systems, press systems,controllers, program products, barrel hoop drivers, processes and/ormethods corresponding to the various features mentioned above and/orotherwise disclosed elsewhere herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 provides a block diagram of components of an electric drivesystem.

FIG. 2 provides a flowchart that illustrates a sequence of operationsthat may be performed by the controller of FIG. 1.

FIG. 3 provides a flowchart that illustrates a sequence of operationsthat may be performed by the controller of FIG. 1.

FIGS. 4A and 4B provide an example block diagram that may correspond tothe electric drive system of FIG. 1.

FIG. 5 provides a front view of a barrel hoop driver.

FIG. 6 provides an isometric view of the barrel hoop driver of FIG. 3.

FIG. 7 provides a front view of the barrel hoop driver of FIG. 3.

FIG. 8 provides an isometric view of the barrel hoop driver of FIG. 3.

FIG. 9 provides an isometric view of the barrel hoop driver of FIG. 3with an example wooden barrel.

FIG. 10 provides a flowchart that illustrates a process that may beperformed by the barrel hoop driver of FIG. 5-9.

FIG. 11 provides a functional view of an electric press consistent withsome aspects of the invention.

FIG. 12 provides a flowchart that illustrates a sequence of operationsthat may be performed by the controller of FIG. 11.

FIG. 13 provides a flowchart that illustrates a sequence of operationsfor limiting torque with the controller of FIG. 11.

FIG. 14 provides a flowchart that illustrates a process for performing apress operation using the electric press of FIG. 11.

DESCRIPTION

Some embodiments of the invention provide a system, apparatus, andprocess for controlling an electric motor, e.g., a servo motor, toprovide speed-constrained torque generation in linear thrustapplications. Consistent with these embodiments of the invention, acontroller connected to the electric motor is configured to actuate theelectric motor in a manner similar to a mechanical actuator thatincludes a hydraulic cylinder. In such embodiments, the controller maycontrol torque generated by the electric motor while limiting a rotationspeed of the electric motor during monitoring of the generated torque tothereby perform in a manner generally similar to a hydraulic cylinderbased actuator. Consistent with some embodiments, the controller may beconnected to at least one user interface device (e.g., a joystick, acontrol panel, a touch screen display, etc.) to provide a variable inputsuch than an operator may control actuation of the electric motor viathe user interface device. The controller may be configured to actuatethe electric motor responsive to user input received via the at leastone user interface device such that a position of the electric motor maybe adjusted, where such configuration may be referred to as positioncontrol. In addition, the controller may be configured to actuate theelectric motor responsive to user input received via the at least oneuser interface device such that a torque generated by the electric motormay be adjusted, where such configuration may be referred to as torquecontrol.

Furthermore, in some embodiments, the controller may be configured todynamically switch from position control to torque control based atleast in part on feedback from the electric motor, e.g., in someembodiments based upon detecting contact of a press member with a hoopon a barrel, detecting an increase in torque resulting from contact witha press member, detecting a lack of movement to a selected position,etc. As will be appreciated, such configuration of the controller mayfacilitate a dynamic switch from controlling a position of the electricmotor via the at least one user interface device to controlling agenerated torque of the electric motor via the at least one userinterface device. The electric motor, configured controller, and atleast one user interface device may be referred to as an electric drivesystem. Consistent with some embodiments of the invention, the electricdrive system may be connected to a mechanical interface (which may alsobe referred to as linkage or mechanical linkage), such that control ofthe electric drive system by an operator with the at least one userinterface device may cause mechanical actuation of one or moreadditional components. For example, the electric drive system may beconnected to a mechanical interface comprising one or more rotatablemembers configured to translate rotational movement generated by theelectric motor to linear movement of a moveable member—i.e., theelectric drive system may be configured in a linear actuator for variousapplications. As will be appreciated, the mechanical interface maycomprise one or more threaded rotatable members (e.g., a screw-basedactuator mechanism), one or more wheel and axle mechanisms, one or morerigid-member based actuator mechanisms (such as a rigid-chain basedactuator mechanism, a rigid-belt based actuator mechanism, awalking-beam based actuator mechanism), a cam-based actuator mechanism,a helical-band based actuator mechanism, a rack and pinion mechanism, acrank mechanism, a sprocket and chain mechanism, a belt and sheavemechanism, a belt and pulley mechanism and/or other such types ofmechanisms configured to translate rotational movement of the electricmotor to an application specific type of movement and/or force.

In some embodiments of the invention, a hoop driving apparatus maycomprise an electric drive system connected to one or more threadedrotatable members. A press member may be connected to the one or morerotatable members, where the press member may move linearly when the oneor more rotatable members are rotated by the electric motor of theelectric drive system. A press surface of the press member may beconfigured to engage a hoop, and, through force applied by the pressmember to the hoop based on actuation of the electric motor,position/drive the hoop onto a wooden barrel. In such embodiments, acontroller of the electric drive system may be connected to the electricmotor of the electric drive system, where the controller may beconfigured to control the electric motor to generate torque based onoperator input received via one or more user interface devices connectedto the controller to thereby drive the hoop onto the barrel via thepress member. Generally, a hoop driver described herein is configured todrive a hoop onto each end of a wooden barrel, where hoops nearest eachend of a barrel may be referred to as “head” hoops or “chime” hoops. Aswill be appreciated, such head hoops generally differ from the hoopswhich correspond to a center of a wooden barrel (referred to as thebilge of the barrel), where the hoops proximate the center of the woodenbarrel are referred to as “bilge” hoops. A hoop driver described hereinmay be further configured to drive bilge hoops into a desired positionon a wooden barrel. Hoops located between a head hoop and a bilge hoopare generally referred to as “quarter” hoops. Embodiments of theinvention may be configured to drive quarter hoops into a desiredposition on a wooden barrel.

Turning now to the figures, and particularly, to FIG. 1, this figureprovides a block diagram that illustrates components of an electricdrive system 10 consistent with some embodiments of the invention. Asshown, the electric drive system comprises one or more user interfacedevices 12 connected to a controller 14. The controller 14 is connectedto one or more electric motors 16, e.g., servo motors such as a G5Accurax series servo motor available from Omron Corporation (althoughother servo motors may be used in other embodiments). As will beappreciated, for implementation in an apparatus (such as a hoop driver),each electric motor 16 may be connected to a mechanical interface 18based on the specific implementation. While the mechanical interface 18is illustrated for descriptive purposes, some embodiments of theinvention including the electric drive system 10 may not include amechanical interface 18, as the mechanical interface 18 is generallyapplication specific. The controller comprises at least one hardwarebased data processor 20 and a memory 22 coupled to the processor 20. Thememory includes a control application 24 stored thereon, where thecontrol application 24 is configured to be executed by the dataprocessor to cause the data processor to perform operations consistentwith embodiments of the invention. Generally, the control application 24may comprise program code, that when executed, may cause the controller14 to process user input received from one or more connected userinterface devices 12. Based on the received user input, the controller14 may communicate one or more control signals to the electrical motor16 to thereby control a position of the electrical motor 16 and/orcontrol a torque generated by the electric motor 16. While embodimentsdescribed herein are described as comprising an electric motor 16, otherembodiments are not so limited and may comprise one or more electricmotors 16. For example, in some embodiments, the controller 14 may beconnected to two electric motors 16, where a first electric motor 16 ofthe two electric motors 16 may be connected to the controller 14 and mayreceive control signals therefrom. A second electric motor 16 may beconnected to the first electric motor 16 such that the first electricmotor 16 is a master electric motor and the second electric motor 16 isa slave electric motor 16 that operates synchronously with the firstelectric motor.

As will be appreciated, some embodiments of the invention may comprisethe control application 24 stored on a memory. Some embodiments of theinvention may comprise the controller 14 that has been configured toperform operations during execution of the control application 24 thathas been stored in the memory 22 of the controller 14. Some embodimentsof the invention may comprise the electric drive system 10. Someembodiments of the invention may comprise the controller 14 connected tothe electric motor 16. Some embodiments of the invention comprise amethod/process for controlling the electric motor 16.

Turning now to FIG. 2, this figure provides a flowchart 100 thatillustrates a sequence of operations that may be performed by thecontroller 14 consistent with some embodiments of the invention. Asshown, the controller 14 may be in a position control setting 102, wherethe controller 14 may be configured to control a position of an electricmotor 16 responsive to user input received from a user interface device12. As will be appreciated, a position of the electric motor 16 mayrefer to an angle of rotation of the motor relative to a definedstarting point (i.e., a defined 0° position). As will be furtherunderstood, if the electric motor 16 is connected to a mechanicalinterface 18 for implementation in an apparatus, the rotational positionof the motor may correspond to linear position of a component linked tothe electric motor 16 via the mechanical interface 18. Therefore, whileposition control of the electric motor 16 is referred to herein, invarious applications of the invention, position control of the electricmotor 16 may be described with respect to an axis along which acomponent linked to the electric motor 16 moves based on rotation of theelectric motor 16.

As shown, the controller 14 monitors for user input from a connecteduser interface device (block 104), and the controller 14 processes theuser input to generate one or more control signals based on the userinput to thereby adjust a position of a connected electric motor (block106). For example, if a connected user interface device is a joystickconfigured to move from a first position to a second position along afirst axis, the controller 14 may generate one or more control signalsto cause the electric motor 16 to move in a first direction (e.g.,rotate clockwise) responsive to an operator actuating the joystick alongthe first axis towards the first position, and the controller 14 maygenerate one or more control signals to cause the electric motor 16 tomove in a second direction (e.g., rotate counter-clockwise) responsiveto an operator actuating the joystick along the first axis towards thesecond position.

During actuation of the electric motor 16 responsive to the user inputdata received at the controller 14, the controller monitors the electricmotor 16 to determine whether the electric motor 16 encounterspositioning feedback (block 108) during actuation. Generally, positionfeedback corresponds to when the electric motor 16 is not able to reacha position responsive to user input. As will be appreciated, positionfeedback generally occurs when the electric motor 16 encountersresistance to actuation to the expected position. Generally, positionfeedback may occur when actuation of the electric motor to the expectedposition (i.e., the position corresponding to the user input) mayrequire generation of additional torque to generate a force sufficientto overcome an obstacle impeding actuation of the electric motor16—i.e., position feedback occurs at a point where further actuation ofthe electric motor 16 requires work in excess of the quantity of workneeded to actuate the electric motor 16. For example, if the electricdrive system 10 is implemented in a barrel hoop driver apparatus,position feedback may occur when the press surface of the press memberengages a hoop to be driven onto a wooden barrel. If position feedbackdoes not occur (“N” branch of block 108), the controller 14 continuesmonitoring for user input data from the user interface device (block104), and generating one or more control signals responsive to the userinput data (block 106).

Consistent with some embodiments of the invention, the controller maydetect position feedback (block 108) and dynamically switch to torquecontrol. In these embodiments, if position feedback occurs (“Y” branchof block 108), the controller may determine whether to switch to torquecontrol (block 110). If the controller is not configured to dynamicallyswitch to torque control responsive to detecting position feedback fromthe electric motor 16 or if the controller 14 determines not to switchto torque control (“N” branch of block 110), the controller 14 maygenerate one or more control signals corresponding to a position fault(block 112). In general, the control signals corresponding to a positionfault may cause the electric motor 16 to actuate to a previouslyachieved position. In response to determining to switch to torquecontrol (“Y” branch of block 110), the controller 14 may switch to atorque based control as described herein (block 114).

FIG. 3 provides a flowchart 150 that illustrates a sequence ofoperations that may be performed by the controller 14 consistent withsome embodiments of the invention when the controller 14 is in a torquecontrol 152 setting. As shown, the controller 14 monitors for user inputdata received from a connected user interface device 12 (block 154). Aswill be appreciated, in some embodiments, the user interface device 12may comprise at least one joystick, and the user input data maycorrespond to an angle of actuation of the at least one joystick and/ora direction of actuation. The controller 14 processes received userinput data (block 156) to generate processed input data, whereprocessing of the received user input data may comprise determining aposition value based on the received input data and/or smoothing theuser input data to generate the processed input data.

In general, a position value may be a value that corresponds to a degreeof actuation of a user interface device. For example, if the userinterface device is a joystick, user input data may comprise a positionvalue that corresponds to an angle of actuation of the joystick and/or adirection of actuation of the joystick. In this example, the controller14 may smooth the position values of the user input data to reduce theeffect of rapid actuation of the user interface device. For example, thecontroller 14 may receive a position value at defined sample intervals,and the controller 14 may average the position value of the definedsample intervals over a predefined buffer range. For example, thecontroller may be configured to monitor for user input with a sampleinterval (Δt) of 1 millisecond (i.e., Δt=1 ms). The controller 14 may beconfigured with a predefined buffer range (T) of 10 milliseconds (i.e.,T=10 ms). In this example, the controller 14 may generate processedinput data by averaging the position values collected during the 10 msbuffer range. The processed input data may comprise the average positionvalue determined for the 10 ms range.

Based on the processed input data, the controller 14 generates one ormore control signals that may be communicated to a connected electricmotor 16 (block 158). In general, at least one control signal generatedfor the electric motor corresponds to a torque output of the electricmotor. As will be appreciated, the torque output control signalgenerally corresponds to user input data. For example, if a userinterface device is a joystick and the position value corresponds to anangle of actuation of the joystick, the torque output control signalgenerated by the controller is based on the angle of actuation of thejoystick, where a higher angle of action of the joystick corresponds toa control signal associated with higher torque output of the electricmotor and a lower angle of actuation of the joystick corresponds to acontrol signal associated with lower torque output of the electricmotor. Generally, the torque output control signal corresponds to a rootmean square (RMS) torque value and/or percentage relative to a rating ofthe electric motor.

Furthermore, at least one control signal of the one or more controlsignals comprises a control signal that is associated with a rotationalspeed limit for the electric motor, i.e., a maximum number of rotationsper time period that the electric motor may reach. Generally, thecontrol signal may indicate a maximum rotations per minute (RPM). Aswill be appreciated, the at least one control signal that is associatedwith a rotational speed limit for the electric motor generallycorresponds to the user input data. For example, if the user interfacedevice comprises a joystick and the user input data comprises a positionvalue that corresponds to an angle of actuation of the joystick, ahigher angle of actuation of the joystick corresponds to a higherrotational speed limit for the electric motor, and a lower angle ofactuation of the joystick corresponds to a lower rotational speed limitfor the electric motor. Generally, the control signal corresponding to arotational speed limit may correspond to a maximum RPM and/or apercentage relative to a rating of the electric motor 16.

As discussed, the controller 14 generally collects user input data thatindicates position values at a sampling interval. Therefore, as will beappreciated, as user input data is received and processed, thecontroller 14 continuously monitors for user input data, processes theuser input data, and generates control signals for the electric motorbased on the received and processed user input data. Furthermore, asdiscussed, the control signals generated generally comprise a torquegeneration/output command signal that indicates an amount of torque forthe electric motor to generate and a maximum rotation speed that theelectric motor may achieve. As discussed, the amount of torque to outputand/or the maximum rotation speed may correspond to a percentage of arating of the electric motor. For example, a control signal maycorrespond to a torque output of 150% RMS and an associated controlsignal may correspond to a rotation speed limit of 100% RPM.

As discussed above, a user interface device connected to the controllermay comprise a joystick that may be configured to move along a firstaxis from a first position to a second position. During torque controlof the electric motor, as an operator actuates the joystick, thecontroller may generate control signals that may cause the electricmotor 16 to adjust rotational torque in a corresponding direction aswell as adjust a maximum speed at which the electric motor may rotate.For example, if an operator moves the joystick in a first directionalong the first axis, the controller 14 may generate control signalsthat cause the electric motor to increase rotational torque in acorresponding direction and increase a maximum rotational speed that theelectric motor may reach.

During control of the electric motor 16, the controller 14 monitorstorque output of the electric motor 16 to detect when the electric motor16 reaches a torque limit (block 158). A torque limit may be apredefined value stored in the control application 24, where thepredefined value may comprise a root mean square (RMS) torque valueand/or percentage relative to a rating of the electric motor and/or atime limit. For example, a torque limit may define a RMS torque of 150%and a time limit of five seconds, where the controller may only controlthe electric motor 16 to generate a RMS torque of 150% for a period offive seconds before determining that the electric motor 16 has reachedthe torque limit. As will be appreciated, the torque limit may varybased on a type of the electric motor 16, and the torque limit generallyprotects against excessive wear and/or malfunction of the electric motor16. In response to detecting that the electric motor 16 reached thetorque limit (“Y” branch of block 160), the controller generates acontrol signal corresponding to a torque fault (block 162) that causesthe electric motor 16 to stop rotation, thereby avoiding excessive wearand/or malfunction of the electric motor 16 due to an unsustainableworkload. While the controller 14 does not detect the electric motor 16reaching the torque limit (“N” branch of block 158), the controllercontinues monitoring for user input (block 154), processing the userinput data to generate processed input data (block 156), and generatingcontrol signals responsive thereto (block 156).

Consistent with embodiments of the invention, the controller 14 may beconfigured to control a connected electric motor 16 such that theelectric motor 16 operates in a manner similar to a linear hydraulicmotor. Specifically, the controller 14 may transform user input receivedfrom a connected user interface device into control signals that actuatethe electric motor 16 for torque generation. As will be appreciated,many electric motor systems generally include only position basedcontrol, which makes implementation of such electric motor systems forvarious applications inoperable and/or unreliable. As will beappreciated, a linear hydraulic motor operates such that control of asystem including a linear hydraulic motor may be desirable for anoperator based on the translation of user input data to output of thelinear hydraulic motor. However, linear hydraulic motors generally havecharacteristics which render such actuators undesirable for manyapplications. Such undesirable characteristics of linear hydraulicmotors generally include undesirable heat generation, undesirablevibration and noise generation, and undesirable potential hydraulicfluid leaks. Embodiments of the invention address the shortcomings oflinear hydraulic motor based systems as well as many electric motorbased systems. In particular, a controller 14 consistent withembodiments of the invention facilitates desirable controlcharacteristics for an operator, where the controller 14 facilitatestorque based control of an electric motor 16 via a connected userinterface device 12. As will be appreciated, therefore, a controller 14consistent with embodiments of the invention generally facilitatesoperation of an electric motor 16 based system such that a transitionfrom positioning to working (i.e., generation of torque for work) may beseamless for an operator.

FIG. 4A provides an example block diagram for a joystick 180 that may bea user interface device consistent with some embodiments. As shown, thejoystick 180 may be actuated (e.g., rotated) along a first axis 181 in afirst direction 182 or a second direction 183 such that an angle ofactuation A 184 or B 186 may be adjusted. FIG. 4B illustrates an examplechart 188 that provides an example relationship between an angle ofactuation of the joystick 180 and a torque output 190 and rotation speedlimit 192 for an example electric motor. In general, a first angle ofactuation A 184 corresponds to actuation of the joystick 180 in thefirst direction 182 and a second angle of actuation B 186 corresponds toactuation of the joystick 180 in the second direction, where the angleof actuation may be described in degrees relative to a neutral position(e.g., center position) of the joystick 180. As shown, as the angle ofactuation A, B 184, 186 increases, the torque output 190 and rotationspeed limit 192 generally increase. As further shown, a maximum angle ofactuation for the joystick 180 may correspond to a 150% RMS torqueoutput and a 100% RPM output. As will be appreciated, FIGS. 4A and 4Bhave been provided to illustrate the relationship of user input data tothe control signal for torque output and the control signal for rotationspeed limit, but the invention is not so limited. Other user interfacedevices, including for example, one or more buttons, a touchscreendevice, a keyboard, one or more actuatable knobs, one or more actuatablelevers, and/or other such known variable input devices may beimplemented consistent with embodiments of the invention.

Some embodiments of the invention comprise a barrel hoop driver thatcomprises one or more electric motors 16. The one or more electricmotors 16 may be connected to a controller 14, and the controller 14 maybe connected to one or more user interface devices 12 as illustrated inFIG. 1. FIG. 5 provides a front view of a barrel hoop driver 200consistent with some embodiments of the invention. FIG. 6 provides afront isometric view of the barrel hoop driver 200. Referring to FIGS. 5and 6, the hoop driver 200 comprises a support frame 202 that is coupledto a first rotatable member 204 and a second rotatable member 206(collectively, the “rotatable members”). As shown, the rotatable members204, 206 may be threaded, and a press member 208 may be coupled to therotatable members 204, 206. While not shown, the rotatable members 204,206 may be connected to at least one electric motor 16, such thatrotation of the electric motor 16 may cause rotation of the rotatablemembers 204, 206. In turn, rotation of the rotatable members 204, 206may be translated to linear movement of the press member 208 along afirst axis 210, e.g., using threaded couplings on the press member thatreceive respective rotatable members 204, 206. Furthermore, while notshown, the rotatable members 204, 206 may be coupled to the one or moreelectric motors 16 and/or each other via one or more timing belts,timing chains, or other such mechanism for synchronizing rotation ofelectric motors 16, the first rotatable member 204, and/or the secondrotatable member 206. Generally, the timing mechanism and rotatablemembers may correspond to the mechanical interface or linkage asdescribed previously. In some embodiments, the barrel hoop driver 200may comprise a first electric motor 16 connected to the first rotatablemember 204 and a second electric motor 16 connected to the secondrotatable member 206. The first electric motor 16 and the secondelectric motor 16 may be connected to each other such that rotation ofthe electric motors (and the rotatable members 204, 206) may besynchronized. For example, the first electric motor may serve as amaster, and a control signal may be communicated to the second electricmotor such that the second electric motor is synchronized with the firstelectric motor. As will be appreciated, the controller 14 may beconnected to the first electric motor and/or the second electric motor.

As described previously, actuation of the electric motor may becontrolled by an operator through use of a user interface device 12connected to a controller 14. As will be appreciated, the user interfacedevice 12 may comprise a joystick, where an axis of actuation of thejoystick may correspond to the first axis 210 of movement of the pressmember. The press member 208 of the barrel hoop driver 200 comprises apress surface 212 that is configured to engage a hoop and drive the hooponto a wooden barrel via a linear force exerted by the press member 208on the hoop, where the linear force exerted by the press membercorresponds to rotational torque generated by the electric motor 16. Inaddition, the barrel hoop driver 200 may include one or more positioningarms 214, where the positioning arms may be configured to position awooden barrel for driving of a hoop thereon. In particular, thepositioning arms 214 may be controlled by an operator with a userinterface device 12 to increase and/or decrease a circumference of acircle formed by the positioning arms 214. As will be appreciated, anoperator may center a wooden barrel for hoop driving by positioning thewooden barrel within the positioning arms 214 and decreasing thecircumference of the circle formed thereby to thereby move the woodenbarrel to a centered position of the circle formed by the positioningarms 214. For example, the user interface device may comprise ajoystick, where a first axis of the joystick may control movement of thepress member 208 along the first axis 210 and movement of the joystickalong a second axis may control circumference of the positioning arms214. In addition, the positioning arms 214 may be configured to engage aquarter hoop and/or a bilge hoop, such that the quarter hoop and/orbilge hoop may be driven to a desired position on a wooden barrelconcurrent with driving of an end hoop onto the wooden barrel with thepress surface of the press member.

The frame 202 of the barrel hoop driver 200 comprises a rotatablesupport surface 216 upon which a wooden barrel may rest during hoopdriving. In addition, a wooden barrel resting thereon may be rotated onthe rotatable support surface 216 when a hoop driving operation is notbeing performed. Furthermore, the barrel hoop driver 200 comprisesadjustable barrel clamps 218. The adjustable barrel clamps are rotatablyconnected to the frame 202 and are configured to engage a wooden barrelpositioned on the support surface 216. After driving of a hoop onto afirst end of a wooden barrel, the adjustable barrel clamps may engageand support the barrel and rotate the barrel such that a hoop may bedriven on a second end of the barrel. Hence, the clamps 218 may rotateabout an axis generally perpendicular to the first axis 210.

In general, the hoop driver 200 may be configured to operate on varioussizes of wooden barrels. Generally, sizes of wooden barrels aredescribed in terms of volume measurements. Common cooperage woodenbarrel sizes include, for example, 5 gallon, 8 gallon, 10 gallon, 15gallon, 20 gallon, 23 gallon, 30 gallon, 53 gallon, 59 gallon, 60gallon, and 65 gallon. As will be appreciated, the adjustable barrelclamps 218 are configured to engage and support various sizes of woodenbarrels, where the clamps 218 may open wider to accommodate larger sizesand close to accommodate smaller sizes. Furthermore, a position of theclamps 218 may be adjustable along the first axis 210 based on a size ofbarrel for which the hoop driver 200 is being used to drive hoops. Theclamps 218 may be positioned such that the clamps 218 engage a woodenbarrel proximate the bilge of the barrel. As will be appreciated, thecontroller 14 may be configured with various profiles that correspond todifferent sizes of wooden barrels. Based on the size of the woodenbarrel, the controller 14 may adjust a position of the clamps 218,actuation of the positioning arms 214, as well as maximum torque thatthe electric motor 16 may generate and/or the torque limit.

FIG. 7 provides a front view of the barrel hoop driver 200 with thebarrel clamps 218 rotated approximately 90° relative to the position ofthe barrel clamps 218 in FIGS. 5 and 6. FIG. 8 provides a frontisometric view of the barrel hoop driver 200 with the barrel clamps 218rotated approximately 90° relative to the position of the barrel clamps218 in FIGS. 5 and 6. As shown in FIGS. 7 and 8, each barrel clamp 218may comprise a first member 230 and a second member 232, where the firstmember 230 and second member 232 are rotatable about an axis and may becontrolled by the controller 14 to open and close such that the barrelclamp 218 may engage and grip a wooden barrel positioned on the supportsurface 216. As discussed, the barrel clamps 218 may rotate about anaxis to thereby rotate a wooden barrel gripped by the barrel clamps 218.As will be appreciated, the controller 14 may communicate controlsignals to the barrel clamps 218 to cause such rotation. Generally, awooden barrel may be rotated such that a first end of the wooden barrelupon which a hoop has been driven may be rotated to the support surface216 and a second end of the wooden barrel may be positioned for drivingof a hoop thereon by the press surface 212. Hence, the barrel clamps 218facilitate automated rotation of a wooden barrel such that hoops may beplaced on each end of the wooden barrel. FIG. 9 provides a frontisometric view of the barrel hoop driver 200 in which an example woodenbarrel 250 has been positioned on the support surface 216.

FIG. 10 provides a flowchart 300 that illustrates a sequence ofoperations that may be performed by a barrel hoop driver 200 consistentwith embodiments of the invention. As shown, after a wooden barrel hasbeen loaded into the barrel hoop driver 200, the barrel hoop driver 200may position the wooden barrel with the positioning arms 214 (block302). The barrel hoop driver 200 may engage the wooden barrel with thebarrel clamps 218 (block 304), and the barrel hoop driver may actuatethe press member 208 by rotating the rotatable members 204, 206 with theelectric motor 16 based on command signals received from the controller14 (block 306) in a position control setting. In general, actuation ofthe press member 208 in position control may facilitate positioning thepress member proximate the wooden barrel. The barrel hoop driver 200 maydrive the press member 208 by rotation of the rotatable members 204, 206with the electric motor 16 based on command signals received from thecontroller 14 (block 308) in a torque control setting to drive a firsthoop on a first end of the wooden barrel. In general, driving a hoop onthe wooden barrel will correspond to generation of torque by theelectric motor as described herein based on user input data received atthe controller 14. After the first hoop is placed on the wooden barrel,the press member is retracted (block 310), and the wooden barrel isrotated by rotation of the engaged barrel clamps 218 (block 312) suchthat a second end of a wooden barrel is positioned for driving of a hoopand the first end of the wooden barrel is placed on the support surface216. As will be further appreciated, actuation of the barrel clamps 218from an open position to an engaged position may be performed toposition a wooden barrel in a centered position on the support surface216.

The press member 208 is actuated by the electric motor 16 based oncontrol signals received from the controller 14 in a position controlsetting (block 314) based on user input data received at the controller14. The press member 208 is driven by rotation of the rotatable members204, 206 by the electric motor 16 based on control signals received fromthe controller 14 in a torque control setting (block 316) to therebydrive a second hoop onto the second end of the wooden barrel. The pressmember may be retracted by rotation of the rotatable members 204, 206 bythe electric motor 16 based on control signals received from thecontroller 14 (block 318).

It will be appreciated that in various embodiments, greater or fewernumbers of rotatable members 204, 206 may be used. It will also beappreciated that rotatable members 204, 206 and press member 208 may beconsidered in some embodiments to form leadscrew-type rotary-to-linearmechanical linkages or interfaces. In other embodiments, however, othertypes of rotary-to-linear mechanical linkages may be used.

Now turning to FIG. 11, it will be appreciated that the various electricdrive systems described above may be considered to provide linear thrustor force using an electric motor such as a servo motor controlled usingproportional torque control with a variable speed or velocity clamp. Tofurther illustrate this concept, FIG. 11 illustrates an electric press320 including a servo motor 322, a rotary-to-linear mechanical linkage324 and controller 326. Press 320 may be used, for example, to apply alinear force to a workpiece 328 positioned between a fixed supportmember 330 and a movable press member 332, and it will be appreciatedthat such a configuration may be used in innumerable differentpress-type applications, e.g., for barrel hoop driving, for pressingaxles into rail car wheels, for splitting logs, or for any otherapplications where a linear force may be applied to one or moreworkpieces.

In this example, mechanical linkage 324 is implemented as a ball screwmechanism where press member 332 is mounted to a threaded ball member334 that may be driven along a linear axis by a threaded rod 336rotatably driven by servo motor 322. Threaded rod 336 may be supportedby one or more bearing supports 338 mounted to a base 340.

In some implementations, a user interface 342 may also be provided toenable an operator to control press 320. In some implementations, theuser interface may include a variable user control device such as ajoystick, knob, etc. It will be appreciated, however, that in otherimplementations, no variable user control device may be used, e.g.,where repeatable press operations are to be performed, such thatproportional control signals as described herein may be generated bycontroller 326, rather than in response to a variable user controldevice.

In the illustrated embodiment, servo motor 322 may include an ability tobe controlled in multiple modes, e.g., in position, torque and/orspeed/velocity modes. In a position mode, for example, servo motor 322may be responsive to a position signal to drive the servo motor to aselected rotational position. In a torque mode, servo motor 322 may beresponsive to a torque signal to drive the servo motor to a selectedtorque (e.g., as a percentage of a rated continuous torque valuesupported by the servo motor). In a speed/velocity mode, servo motor 322may be responsive to a speed signal to drive the servo motor at aselected speed or rotational velocity (e.g., RPMs). In some embodiments,controller 326 may switch servo motor 322 between different modes (e.g.,dynamically, and without restarting the servo motor), while in otherembodiments, controller 326 may operate servo motor 322 in a torquemode, but additionally incorporate a variable speed limit (also referredto as a velocity clamp) that may be based at least in part on a variableinput from which a variable torque may be determined.

Put another way, in some embodiments of the invention, a variable inputmay be used to control both a torque input and a speed limit or velocityclamp input to a servo motor, and further, the torque input and thespeed limit input may be effectively linked to one another to both varyin response to the variable input, thereby providing speed-constrainedtorque generation by the servo motor. The effective linking of torqueand speed limit inputs may be implemented in a number of differentmanners consistent with the invention. In some embodiments, for example,a fixed ratio may be established between a torque input and a speedlimit input such that an increase in the torque input and/or a variableinput from which the torque input is calculated results in aproportional increase in the speed limit input. In other embodiments, avariable ratio may be used, e.g., a ratio that varies based upon anexternal input such as position, temperature, etc. For example, in oneillustrative embodiment, a speed limit input may be automaticallyreduced proximate predetermined positions along the stroke of electricpress 320, e.g., proximate the workpiece and/or proximate the ends ofthe stroke to prevent the press member from slamming into the workpieceand/or moving beyond an operational range for the press. Other mannersof effectively linking torque and speed limit inputs such that eachvaries in a predetermined manner relative to a variable input will beappreciated by those of skill in the art having the benefit of theinstant disclosure.

FIG. 12, for example, illustrates an example sequence of operations 350that may be performed by controller 326 to drive servo motor 322 basedon a variable input, e.g., as provided either by user interface 342 orby an automated program stored in the controller. Sequence of operations350 defines a control loop including blocks 352-358 that drive servomotor 322 in response to a variable input. Block 352 determines thevariable input, e.g., based upon a joystick input or a program input,and block 354 determines each of a direction, torque and a speed limitsignal based upon that variable input. For example, in some embodiments,block 354 may determine a direction of rotation for the servo motor or adirection of travel for the press along with a torque signal, and thendetermine from the torque signal a corresponding speed limit signal as afixed or variable ratio thereof. In other embodiments, the speed limitsignal may be determined from the variable input, rather than from thetorque signal generated therefrom. In addition, as illustrated in block356, in some embodiments one or both of the torque signal and the speedlimit signal may be further adjusted based upon an additional input,e.g., sensed position. As noted above, for example, it may be desirableto reduce the speed at predetermined positions along the stroke of thepress. In addition, it may be desirable to enable higher or lower speedsdepending upon the direction of travel.

Now turning to block 358, the direction, torque and speed limit signalsare communicated to servo motor 322, with the controller therefordriving the servo motor accordingly. Control then returns to block 352.

Next turning to FIG. 13, it may be desirable in some embodiments tosupplement torque control over the servo motor to minimize theoccurrence of torque faults. Servo motors generally are rated with acontinuous torque limit that is below a peak torque output of themotors, but are capable of being driven above the continuous torquelimit for limited time periods (e.g., 150% for up to 5 seconds, 200% forup to 1 second, etc.). It may therefore be implement an additionalcontrol loop such as is illustrated by sequence of operations 370 ofFIG. 13 to support driving a servo motor above its rated continuoustorque limit but still within one or more peak torque limits establishedfor the servo motor. In this control loop, block 372 obtains the currenttorque output from the servo motor, and block 374 determines whether thecurrent torque output is over the continuous torque limit for the servomotor. If not, control returns to block 372. Otherwise, control passesto block 376 to determine whether the current torque output has beenover a peak torque limit for the servo motor for over a time limitassociated with the peak torque limit. If not, block 376 returns controlto block 372. Otherwise, control passes to block 378 to reduce thetorque input to the servo motor to bring the servo motor torque outputbelow the peak torque limit and thereby avoid the generation of a torquefault by the servo motor, and then return control to block 372. It willbe appreciated that multiple peak torque limits may be established for aservo motor, and further, that detection of time limits may be made in anumber of manners, e.g., by setting a timer when the torque outputexceeds the continuous torque limit for the servo motor and thenreducing the torque input when the timer exceeds the time limitestablished for a peak torque limit of the servo motor.

It will be appreciated that in some embodiments, control over a servomotor coupled to a rotary-to-linear mechanical linkage in the mannerdescribed herein may be used to effectively emulate a hydraulic actuatormotor such as a hydraulic cylinder, as the combination of a torque inputand a speed limit input will, in the absence of a sufficient opposingforce, will result in controlled linear travel of the mechanicallinkage, while the same inputs will also, in the presence of asufficient opposing force, result in application of a controlled linearforce or thrust. Furthermore, the transition between travel and theapplication of linear force is in many instances effectively seamlessfrom a control input perspective, just as is the case with a linearhydraulic motor.

FIG. 14, for example, illustrates a sequence of operations 400 for apress operation performed with electric press 320 of FIG. 11. Assume,for example, that an operator manipulates a variable user control or anautomated program selects a variable input with press member 332initially at position A, such that in block 402, corresponding torqueand speed limit inputs are communicated to servo motor 322, and in block404, in the absence of contact between press member 332 and workpiece328, press member 332 travels toward the workpiece (e.g., from positionA to position B and then continuing on to position C) at a controlledvelocity due to the speed limit input that limits the torque output bythe servo motor below that specified by the torque input. Then, asillustrated in block 406, contact with the workpiece occurs at positionC and movement of the press member is stalled, and as illustrated inblock 408, a substantially seamless transition occurs to begin applyinga controlled torque to the workpiece based principally on the torqueinput specified in block 402. Further, in the case that the workpiece iscompressible, or if the work piece is multiple parts being press fittogether (e.g., as is the case with driving a hoop on a barrel ordriving an axle onto a rail car wheel), further travel of press member332 may occur (e.g., to position D) in connection with the applicationof the controlled force.

Of note, the transition between travel and the application of linearforce occurs based upon the same torque and speed limit inputs. Further,in some instances the variable input may be varied throughout a pressoperation, e.g., in response to user control via a joystick, such that,for example, an operator may direct the press member toward theworkpiece through manipulation of the joystick in a first direction, andthen upon contact with the workpiece, may continue to manipulate thejoystick in the first direction to apply a desired linear force. Then,upon application of sufficient linear force, the operator may manipulatethe joystick in an opposite direction to withdraw the press member fromthe workpiece. Further, in some embodiments, an operator may bepermitted to select a button or other control upon completion of a pressoperation and have an automated program withdraw the press member andreturn to an initial starting position for a next press operation.

In general, the routines executed to implement the embodiments of theinvention, whether implemented as a control application, part of anoperating system, or a component, program, object, module or sequence ofinstructions, or even a subset thereof, may be referred to herein as“computer program code,” or simply “program code.” Program codetypically comprises computer readable instructions that are resident atvarious times in various memory and storage devices in a data processingdevice (e.g., a computer and/or controller), and that, when read andexecuted by one or more processors in a data processing device, causethat data processing device to perform the operations necessary toexecute operations and/or elements embodying the various aspects of theembodiments of the invention. Computer readable program instructions forcarrying out operations of the embodiments of the invention may be, forexample, assembly language or either source code or object code writtenin any combination of one or more programming languages.

The program code embodied in any of the applications described herein iscapable of being individually or collectively distributed as a programproduct in a variety of different forms. In particular, the program codemay be distributed using a computer readable storage medium havingcomputer readable program instructions thereon for causing a processorto carry out aspects of the embodiments of the invention.

Computer readable storage media, which is inherently non-transitory, mayinclude volatile and non-volatile, and removable and non-removabletangible media implemented in any method or technology for storage ofinformation, such as computer-readable instructions, data structures,program modules, or other data. Computer readable storage media mayfurther include RAM, ROM, erasable programmable read-only memory(EPROM), electrically erasable programmable read-only memory (EEPROM),flash memory or other solid state memory technology, portable compactdisc read-only memory (CD-ROM), or other optical storage, magneticcassettes, magnetic tape, magnetic disk storage or other magneticstorage devices, or any other medium that can be used to store thedesired information and which can be read by a computer. A computerreadable storage medium should not be construed as transitory signalsper se (e.g., radio waves or other propagating electromagnetic waves,electromagnetic waves propagating through a transmission media such as awaveguide, or electrical signals transmitted through a wire). Computerreadable program instructions may be downloaded to a computer, anothertype of programmable data processing apparatus, or another device from acomputer readable storage medium or to an external computer or externalstorage device via a network.

Computer readable program instructions stored in a computer readablemedium may be used to direct a computer, controller, other types ofprogrammable data processing apparatus, or other devices to function ina particular manner, such that the instructions stored in the computerreadable medium produce an article of manufacture including instructionsthat implement the functions/acts specified in the flowcharts, sequencediagrams, and/or block diagrams. The computer program instructions maybe provided to one or more processors of a general purpose computer,special purpose computer, controller, or other programmable dataprocessing apparatus to produce a machine, such that the instructions,which execute via the one or more processors, cause a series ofcomputations to be performed to implement the functions and/or actsspecified in the flowcharts, sequence diagrams, and/or block diagrams.

In certain alternative embodiments, the functions and/or acts specifiedin the flowcharts, sequence diagrams, and/or block diagrams may bere-ordered, processed serially, and/or processed concurrently withoutdeparting from the scope of the invention. Moreover, any of theflowcharts, sequence diagrams, and/or block diagrams may include more orfewer blocks than those illustrated consistent with embodiments of theinvention.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the embodimentsof the invention. As used herein, the singular forms “a”, “an” and “the”are intended to include the plural forms as well, unless the contextclearly indicates otherwise. It will be further understood that theterms “comprises” and/or “comprising,” when used in this specification,specify the presence of stated features, integers, steps, operations,elements, and/or components, but do not preclude the presence oraddition of one or more other features, integers, steps, operations,elements, components, and/or groups thereof. Furthermore, to the extentthat the terms “includes”, “having”, “has”, “with”, “comprised of”, orvariants thereof are used in either the detailed description or theclaims, such terms are intended to be inclusive in a manner similar tothe term “comprising”.

While all of the invention has been illustrated by a description ofvarious embodiments and while these embodiments have been described inconsiderable detail, it is not the intention of the Applicant torestrict or in any way limit the scope of the appended claims to suchdetail. Additional advantages and modifications will readily appear tothose skilled in the art. The invention in its broader aspects istherefore not limited to the specific details, representative apparatusand method, and illustrative examples shown and described. Accordingly,departures may be made from such details without departing from thespirit or scope of the Applicant's general inventive concept.

1. A barrel hoop driver comprising: a press member configured for linearmovement along an axis to drive a hoop onto a barrel; a mechanicallinkage configured to move the press member along the axis and cause thepress member to apply a linear force to the hoop in response to arotational input; and an electric motor coupled to the mechanicallinkage to provide the rotational input thereto.
 2. The barrel hoopdriver of claim 1, wherein the mechanical linkage includes a threadedrotatable member coupled to the press member configured for rotation inresponse to rotational torque generated by the electric motor.
 3. Thebarrel hoop driver of claim 2, wherein the threaded rotatable member isa first threaded rotatable member and the electric motor is a firstelectric motor, the barrel hoop driver further comprising: a secondthreaded rotatable member coupled to the press member; and a secondelectric motor that is synchronized with the first electric motor,wherein the second electric motor is coupled to the second rotatablemember such that rotational torque generated by the second electricmotor drives rotation of the second rotatable member.
 4. The barrel hoopdriver of claim 1, further comprising: a controller connected to theelectric motor and configured to communicate at least one control signalto the electric motor for actuating the electric motor to therebygenerate rotational torque.
 5. The barrel hoop driver of claim 4,wherein the at least one control signal corresponds to an amount ofrotational torque for the electric motor to generate.
 6. The barrel hoopdriver of claim 5, wherein the at least one control signal furthercorresponds to a rotational speed limit for the electric motor.
 7. Thebarrel hoop driver of claim 4, wherein the controller is configured togenerate one or more control signals for the electric motor such thatthe electric motor emulates a linear hydraulic motor.
 8. The barrel hoopdriver of claim 4, further comprising: a frame that includes a rotatablesupport surface for the barrel; one or more positioning arms coupled tothe press member and configured to drive a quarter hoop and/or an endhoop into a desired position on a first end of the barrel facing thepress member; and at least one rotatable barrel clamp configured toengage the barrel to center the barrel on the support surface andfurther configured to rotate the barrel to face a second end of thebarrel towards the press member.
 9. The barrel hoop driver of claim 4,further comprising: at least one user interface device connected to thecontroller and configured to generate user input data.
 10. The barrelhoop driver of claim 9, wherein the controller is configured to receivethe user input data, process the user input data, and generate the atleast one control signal based on the user input data.
 11. The barrelhoop driver of claim 10, wherein the controller is configured to smooththe user input data to generate processed input data by averagingposition values of the user input data collected at a sampling intervalover a buffer range.
 12. The barrel hoop driver of claim 9, wherein theuser interface device comprises a variable input device.
 13. The barrelhoop driver of claim 9, wherein the user interface device comprises atleast one button.
 14. The barrel hoop driver of claim 9, wherein thevariable input device is a joystick.
 15. The barrel hoop driver of claim14, wherein the joystick is actuatable along a first axis and actuationthereof corresponds to an angle of actuation, wherein the user inputdata generated by the user interface device corresponds to the angle ofactuation, and the controller is configured to generate a first controlsignal that corresponds to a rotational torque to be generated by theelectric motor and a second control signal that corresponds to arotational speed limit of the electric motor based at least in part onthe angle of actuation of the joystick.
 16. The barrel hoop driver ofclaim 15, wherein the rotational torque to be generated by the electricmotor and the rotational speed limit of the electric motor increase asthe angle of actuation of the joystick increases.
 17. The barrel hoopdriver of claim 15, wherein the joystick is actuatable in first andsecond directions from an intermediate point along the first axis,wherein the controller is configured to rotate the electric motor in afirst direction of rotation and thereby move the press member in a firstlinear direction when the joystick is actuated in the first directionfrom the intermediate point and to rotate the electric motor in a seconddirection of rotation and thereby move the press member in a secondlinear direction when the joystick is actuated in the second directionfrom the intermediate point.
 18. An apparatus, comprising: a servomotor; a mechanical linkage coupled to the servo motor and having aportion configured to travel along a linear axis responsive to rotationof the servo motor; and a controller in communication with the servomotor and configured to drive the servo motor using variable torque andspeed limit inputs, the variable torque input controlling torquegeneration by the servo motor and the variable speed limit inputcontrolling a maximum rotational speed of the servo motor while beingcontrolled by the variable torque input.
 19. The apparatus of claim 18,wherein the controller is configured to drive the servo motor to emulatea linear hydraulic motor.
 20. The apparatus of claim 18, wherein thecontroller is configured to drive the servo motor to providespeed-constrained torque generation by the servo motor.
 21. Theapparatus of claim 18, wherein the controller is configured to vary thevariable torque and speed limit inputs in response to a variable input.22. The apparatus of claim 21, wherein the variable input comprises anautomated program or a variable user control.
 23. The apparatus of claim21, wherein the controller is configured to generate the speed limitinput based at least in part on a fixed or variable ratio with thevariable torque input.
 24. The apparatus of claim 23, wherein thecontroller is configured to adjust the speed limit input based upon anexternal input.
 25. The apparatus of claim 21, wherein the controller isconfigured to operate the servo motor in a torque mode and vary thespeed limit input while the servo motor is operating in the torque modebased at least in part on the variable input.
 26. The apparatus of claim18, further comprising a press member coupled to the mechanical linkagefor linear movement between first and second positions, wherein thecontroller is configured to drive the servo motor to move the pressmember between the first and second positions, and to apply a linearforce to a workpiece interposed between the first and second positions.27. The apparatus of claim 26, wherein the controller is configured tosubstantially seamlessly transition between moving the press member andapplying the linear force.
 28. The apparatus of claim 18, wherein thecontroller is further configured to monitor output torque of the servomotor and to selectively reduce the variable torque input when theoutput torque exceeds a continuous torque limit for the servo motor fora predetermined time associated with a peak torque limit for the servomotor to avoid generation of a torque fault by the servo motor. 29.-57.(canceled)